Con te am
101006210
daffy 3 e39diff sinky 05 doff 2day Zu too
Y 3 e39 y Sin
2g o 5 ii tzu 2u
At equilibrium ij o
y 0 ii O i O U I g
y g
Substituting these values in the differential equation we get
O O 25
Sin 2T
sin 25 Zvi
sin 2E
2g
J size
2
If Tr 0 Sin 25 O
At it o and 5 0 the DE becomes d
the form 0 0 therefore this is a valid
equilibrium point
1010062
Sy y j
Sii ii
O O
l y y y ii ou u l 0,015 o.o I
Let l y 3EB Sindy to 5 Ii Zi 124 0
y
Lbj Y y ii ie n eco o y o o ut t
ftpegsi'tff
egsjte
qSY 8fi gsiitffi
if5 oJoyI
su
35
t 0
20525 2 5 afflegsu
2
s
l Sy 3 1 Kos2g Sy 05 Sii 28in 2 Su O
3e Koos2g y o Zu O
daff Hayy 5ddYz 2day
1010062
Yes the system has stable equilibrium when
a O and y O Because the system attains a
steady value at this particular point
1010062
Taking the Laplace transform of the linearized
DE obtained in b we at Trio so
get g
53 Yes 3 sycs 2 Yes 0.55 Vcs 2 sues
1 ZUG 0
Yes S3 3s 2 0.55 25 2 Vcs
41 63 35 2 3
Ucs 0.55 25 2
1010 062
2
Tcs
52 s 1
2
S plane
poles I 1
Dens E k 0
Since poles are on the L H P the Tcs is
131130 stable
10100
YG 2
52
CstD2
for step response Ucs
L
2
Yes
525 i Stl
A
Stl SAS25 Stl
1 1
2
SCS 11 2 St 1
Applying partial fraction to both tins
5 Ft
l A Gti B s Stl 1 s
1010062
Mta met
pnt I A 2 B Z t C
I 4 2B l
2 2B
B
5 T tf 5
Yes
f 2
Is 32 2
Taking Inverse Laplace tramfm
YH 3tEtJ
l Et
Step prespons A Tcs
101001
dm splay
A
pro zero
f k
pole zero plot
fence there is positive zerog there will be
over shoot
Contr 10100 62
IS
Hcs
Sti ti
E K as
FE i
q [Link]
YET [Link] asT
Ecs Rcs Yes
Rcs I
[Link]
TtktasT
rEs lsEsI5YzsEiIEsD
skiffs
1010062
S Stl Gti Yes KECs t as Ecs
sets 25 1 Yes
253 35 15 Yes KEG as Ecs
253Yes 357cg t sycs KEG as ECD
2 y
10100622
Yes k
5 Stl 2st D t k t as
kta
Sts 2 St D t k t as
Kt as
2 s t 35 Catt Stk
Characteristic Equation 28 354 TDs 1K 0
To
find suitable values d a we are
Routh's Criterion
a a
Kati
GK
10100622
A72
It K_ 0
253 135 Catt s
KS
It
25 135 t HIT
3 f D
4
3
F FE
Fsj
3 M s
4
Since a 33 Ffa is negative
075 j
6
I 010062
Blue represent
ff
asymptotes
I 609 180 3000
Fat's
I
i
te is
piles o 75 jra 075 jiff 0
zeros Nil
n 3 M 0
i n m
I No d Asymptotes 3
2kt I
Angle d asymptos 1831
Go 2kt l
Angles are 60 180 300
Angle between the asymptotes are 120
Intersection point of asymptotes sung pres Gun A ans
I o
Ia
10
iii crossing the imaginary axis
CE 28 1354 CatDS t k 0
coossity the imaginary axis happens when
S
jw
Substituy in EE
2CjwP 3 G of t ca t Dja t K o
2 adj 3 at fat Dja t K o
K 302 KatDw 2nd
j o
K 30T t a
flatD 2nd j o
CD Angle A departs from elite
pre
poleI 0
180 0 Go t 75tf
Iso tan
III tariffs
e
Potez o 75 that j
1800
I 5t
t i ij
188 tan
ta t 900
270 tant
Ita
poles C o 75
Ij
180
[Link] Tj oJt
98
180 tan
f
go
tariff
10100622
From Routh's tenon y
Calataled above
Atl Zz K 70
att
K T
3
K L 3
2
and K O
k 3
2
tht t Rcs Lga
10100625
S E o 02 given
s Ecs
S S E slim
slim
SR
f 4
sash
fi
e l ii
[Link]
took
100g II 100
101006212
Impulse respson
G ly
1010062
Rcs
2g
Hcs Cacs
259 35 5
Yet Close loop tomfn
CARD253 3545 1 Cds
5EY sfing secs ski 4
hehe s RCD 253 135 5
STO
line K34773
Eino
lot
[Link] I 3ssIts
FsacsT
When s 0
Lim
SSE become
o ISCa
s
So for the limit to be finite
at the
Cass
Ky ie one
pile
origin
C team
101006230 Gcs L
S2 t 2
Csc A et ST
A EtI
T
Gcs Cs A Its 1
5.5
Allt
S3 155 251 10
Closed loop
[Link]
It Gcs cs
Act
53 55 1251 10 1 A AT
A Its 1
S3 55 t ADS1 IOTA
6
1010062
Characteristic Equation S3 155 1Gt AT s lot A O
Applying Routh's stability criterion
TIE a
AT
to1A Is
AT 0
Az
0
A
ft t
Since A o
given
T 70
T
Also lot A 7 0
A 10
But A is already defined as positive
so the range of A is A
I 62
10100622
20 120
Gcs Es AC s1 35
4425 5 t
13
20332
Htt
IF
[Link]
ft
g y
IG gill Ot AT
f t
FEET
1 81 LET a
GE
EE
tan Fn
o
tariff
0.5 o
For sketches let A 20
and T correspond 0 32 1Eeadls
2g
AT 20 23 13 33 20 logo IAT
2.49g dB
a
1010062
µfdB
W
tone
cashstant O LAT 20 logCo IAT dB 2.41dB
1 20
[Link]
D I ad s Break
1 20 log BreakfreganTradls
t
20 log hat
t
294dB
g i
EE
j i l
OO O
l [Link]
t
head
t
Eti
Gcs Hcs AT t
St 5 5 2
Let A 20 and T 2g
0.667
of state
Open loop functu
become
I
101001
13 33 I s
It's'T
e
Etfs
I 33 Est
y z
let Gija Ceja NoLgb
laogwt C [Link]
FetET tan ofear
WED Ot tan
Ef E
tan 180 0
Also o Hari F
27 1,010062
µ
1 r
V
252dB
En
EE
2 ci fe
O
O97
h
i
H
yza n
i
i
t l I
71
l
as 10
2750
O
I
Ef 180
k
Inolj 5 I e lo 97dB
dog't571 25 2dB
2 29
Gain margin 1
I Noljup
where Wp is the phase crossover frequency
ie LED 180
tan tan 180 180
E f
tan 360
tariff
a
